- SnakeSkin: Modular domain-specific language
- SnakeSkin-Units: Statically compiled units-of-measure library
- SnakeSkin-Gradle: Custom Gradle plugin for project configuration
- Taxis: Motion planning and trajectory following
- LightLink: Custom I2C LED control library
- MP-Generator: Cross-platform trajectory generation app
- Custom 2-speed 6 Neo drive
- Telescoping "light red" arm for intaking and scoring on both sides of robot
- 3 position fully contained ground hatch intake
- 360 degree range of motion wrist with cargo and hatch tools
- Field relative positioning through nonlinear state estimation
- Dual Limelights for pose correction and dynamic trajectory updating
- Superstructure motion planner for synchronized arm extension, rotation, and wrist movement
- Plotting and simulation for arm testing without a robot
- Motion profiled rack-and-pinion climber